There is a Rygel instance on my Ubuntu ran using Settings → Sharing.
It is discovered in VLC on a Windows machine but not discovered in VLC on Android and on the Smart TV (IFFALCON). All on the same local WiFi.
I’ve run Rygel from the console as you suggested. First, it appeared in the Android’s VLC. Maybe a coincidence, though.
Second, it didn’t appear on the TV, and no new messages when I turned the TV on and entered into the media player (where all DNLA servers would appear). However, also there were no new messages when I discovered the Rygel instance in VLC, only when I open the instance.
As an important note: MiniDLNA that runs on the same machine is seen on the same TV. Does this give any clue?
That points to version mismatch. Unfortunately the fact that it does not try to connect to rygel points to SSDP already. Are you comfortable with tcpdump or wireshark?